Description
This is a set of configs of ROS Kinetic to generate multi robot(s)/agent(s) in Gazebo & Rviz simulation environment.
I moved nearly every file needed to this package to make sure the environment satisfying the needs, but DO PLEASE:
!!!! install ROS Kinetic FULL package and Turtlebot Navigation package (just in case)
U'r welcomed to open issues if found any problems
Instruction
Download myprofile repo to your workspace/src location
maybe a catkin_make is required
Launch
Step 1: launch mp.launch
roslaunch myprofile mp.launch robot_count:=5
Step 2: launch amcl.launch
roslaunch myprofile amcl.launch robot_count:=5
After launch two launch files above, you should see the same windows as pics in Screenshots
tip: in myrviz.rviz file, I saved 5 model of robots in it, so you'd best keep the robot_count:=5 , otherwise a modification of rviz config file (myprofile/launch/includes/myrviz.rviz) OR some items in GUI is needed
the overview calling sequence of files
As you can see multi files in this repo, the main calling sequence is as below:
mp.launch -> one_robot_recur.launch -> kobuki.launch.xml
amcl.launch -> amcl_recur.launch && rviz -> astra_amcl.launch.xml && move_base.launch.xml
Screenshots
[Another version of readme](readme 2.md)
Point 5 goals for 5 robots
